Design of a reconfigurable three-finger gripper for versatile grasping tasks

초록

This study introduces a reconfigurable three-finger gripper suitable for a variety of robotic grasping tasks. The proposed gripper focuses on expanding the operational modes of existing reconfigurable grippers. A key differentiating feature is its ability to align the contact surfaces of the fingers and palm on the same plane, enabling tasks that utilize the palm. The gripper is composed of three underactuated fingers integrating a belt-pulley power transmission system and a linkage mechanism. One finger operates in a fixed position, while the other two fingers can be reconfigured using a dedicated mechanism. The designed gripper defines a total of seven operational modes, each enhancing the grasping range and accessibility to various objects. Position analysis was conducted to verify the accessible postures for each mode, followed by grasping experiments to evaluate its functionality. The proposed gripper demonstrates strong potential for applications in environments requiring the grasping of diverse object shapes or collaborative tasks with humans. Additionally, beyond the defined operational modes, new modes can be added according to task-specific requirements, further improving efficiency and adaptability. © 2025 Elsevier B.V.

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